dataset_object
DatasetObject
Bases: USDObject
DatasetObjects are instantiated from a USD file. It is an object that is assumed to come from an iG-supported dataset. These objects should contain additional metadata, including aggregate statistics across the object's category, e.g., avg dims, bounding boxes, masses, etc.
Source code in omnigibson/objects/dataset_object.py
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avg_obj_dims
property
Get the average object dimensions for this object, based on its category
Returns:
Type | Description |
---|---|
None or dict
|
Average object information based on its category |
base_link_offset
property
Get this object's native base link offset
Returns:
Type | Description |
---|---|
3 - array
|
(x,y,z) base link offset if it exists |
in_rooms
property
writable
Returns:
Type | Description |
---|---|
None or list of str
|
If specified, room(s) that this object should belong to |
metadata
property
Gets this object's metadata, if it exists
Returns:
Type | Description |
---|---|
None or dict
|
Nested dictionary of object's metadata if it exists, else None |
model
property
Returns:
Type | Description |
---|---|
str
|
Unique model ID for this object |
native_bbox
property
Get this object's native bounding box
Returns:
Type | Description |
---|---|
3 - array
|
(x,y,z) bounding box |
orientations
property
Returns:
Type | Description |
---|---|
None or dict
|
Possible orientation information for this object, if it exists. Otherwise, returns None |
scaled_bbox_center_in_base_frame
property
where the base_link origin is wrt. the bounding box center. This allows us to place the model correctly since the joint transformations given in the scene USD are wrt. the bounding box center. We need to scale this offset as well.
Returns:
Type | Description |
---|---|
3 - array
|
(x,y,z) location of bounding box, with respet to the base link's coordinate frame |
scales_in_link_frame
property
Returns: dict: Keyword-mapped relative scales for each link of this object
__init__(name, relative_prim_path=None, category='object', model=None, scale=None, visible=True, fixed_base=False, visual_only=False, kinematic_only=None, self_collisions=False, prim_type=PrimType.RIGID, load_config=None, abilities=None, include_default_states=True, bounding_box=None, in_rooms=None, **kwargs)
Parameters:
Name | Type | Description | Default |
---|---|---|---|
name |
str
|
Name for the object. Names need to be unique per scene |
required |
relative_prim_path |
None or str
|
The path relative to its scene prim for this object. If not specified, it defaults to / |
None
|
category |
str
|
Category for the object. Defaults to "object". |
'object'
|
model |
None or str
|
If specified, this is used in conjunction with @category to infer the usd filepath to load for this object, which evaluates to the following:
Otherwise, will randomly sample a model given @category |
None
|
scale |
None or float or 3 - array
|
if specified, sets either the uniform (float) or x,y,z (3-array) scale for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling. |
None
|
visible |
bool
|
whether to render this object or not in the stage |
True
|
fixed_base |
bool
|
whether to fix the base of this object or not |
False
|
visual_only |
bool
|
Whether this object should be visual only (and not collide with any other objects) |
False
|
kinematic_only |
None or bool
|
Whether this object should be kinematic only (and not get affected by any collisions). If None, then this value will be set to True if @fixed_base is True and some other criteria are satisfied (see object_base.py post_load function), else False. |
None
|
self_collisions |
bool
|
Whether to enable self collisions for this object |
False
|
prim_type |
PrimType
|
Which type of prim the object is, Valid options are: {PrimType.RIGID, PrimType.CLOTH} |
RIGID
|
load_config |
None or dict
|
If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime. |
None
|
abilities |
None or dict
|
If specified, manually adds specific object states to this object. It should be a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to the object state instance constructor. |
None
|
include_default_states |
bool
|
whether to include the default object states from @get_default_states |
True
|
bounding_box |
None or 3 - array
|
If specified, will scale this object such that it fits in the desired (x,y,z) object-aligned bounding box. Note that EITHER @bounding_box or @scale may be specified -- not both! |
None
|
in_rooms |
None or str or list
|
If specified, sets the room(s) that this object should belong to. Either a list of room type(s) or a single room type |
None
|
kwargs |
dict
|
Additional keyword arguments that are used for other super() calls from subclasses, allowing for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject). |
{}
|
Source code in omnigibson/objects/dataset_object.py
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get_usd_path(category, model)
classmethod
Grabs the USD path for a DatasetObject corresponding to @category and @model.
NOTE: This is the unencrypted path, NOT the encrypted path
Parameters:
Name | Type | Description | Default |
---|---|---|---|
category |
str
|
Category for the object |
required |
model |
str
|
Specific model ID of the object |
required |
Returns:
Type | Description |
---|---|
str
|
Absolute filepath to the corresponding USD asset file |
Source code in omnigibson/objects/dataset_object.py
sample_orientation()
Samples an orientation in quaternion (x,y,z,w) form
Returns:
Type | Description |
---|---|
4 - array
|
(x,y,z,w) sampled quaternion orientation for this object, based on self.orientations |
Source code in omnigibson/objects/dataset_object.py
set_bbox_center_position_orientation(position=None, orientation=None)
Sets the center of the object's bounding box with respect to the world's frame.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
position |
None or 3 - array
|
The desired global (x,y,z) position. None means it will not be changed |
None
|
orientation |
None or 4 - array
|
The desired global (x,y,z,w) quaternion orientation. None means it will not be changed |
None
|